package es.uji.viselab.robot.links;

import es.uji.viselab.math.Joints;
import es.uji.viselab.math.RobotToolLocation;
import es.uji.viselab.robot.RobotException;

public interface RobotLink {


	public void connect(String ip, int port) throws RobotException;
	public void disconnect() throws RobotException;
	
	public boolean isConnected();
	public String ping() throws RobotException;

	public Joints getJoints() throws RobotException;
	public RobotToolLocation getXYZWPR() throws RobotException;
	
	public void move(Joints j) throws RobotException;
	public void move(RobotToolLocation rtl) throws RobotException ;


}
